From b039f1fc2f0d99f315139b441b49cc5386da1459 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Thu, 7 May 2015 13:37:34 +0200 Subject: [PATCH] avr/nano: added srf sensors --- avr/nano/main.c | 101 +++++++++- avr/nano/main.hex | 485 +++++++++++++++++++++++++++------------------- 2 files changed, 381 insertions(+), 205 deletions(-) diff --git a/avr/nano/main.c b/avr/nano/main.c index 0cb0acf..5418055 100644 --- a/avr/nano/main.c +++ b/avr/nano/main.c @@ -4,6 +4,7 @@ #include #include #include +#include #include "uart.h" /* @@ -13,6 +14,10 @@ * 0x02 Distance left LSB * 0x03 Distance right MSB * 0x04 Distance right LSB + * 0x05 Distance forward MSB + * 0x06 Distance forward LSB + * 0x07 Distance backward MSB + * 0x08 Distance backward LSB * * 0xff Bootloader */ @@ -26,6 +31,10 @@ static volatile uint8_t ireg=0; static volatile uint8_t bootloader=0; static volatile uint16_t dist_left=0; static volatile uint16_t dist_right=0; +static volatile uint16_t dist_forward=0; +static volatile uint16_t dist_backward=0; +static volatile uint8_t start_dist_fwd=0; +static volatile uint8_t start_dist_bwd=0; ISR(TWI_vect) { @@ -41,6 +50,10 @@ ISR(TWI_vect) switch(ireg) { case 0x00: // register select ireg = TWDR; + + if (ireg == 0x05) start_dist_fwd=1; + if (ireg == 0x07) start_dist_bwd=1; + ireg--; // because we do ireg++ below TWI_ACK; break; @@ -72,6 +85,24 @@ ISR(TWI_vect) TWDR = tmp16; TWI_ACK; break; + case 0x05: // Distance forward MSB + tmp16 = dist_forward; + TWDR = tmp16>>8; + TWI_ACK; + break; + case 0x06: // Distance forward LSB + TWDR = tmp16; + TWI_ACK; + break; + case 0x07: // Distance backward MSB + tmp16 = dist_backward; + TWDR = tmp16>>8; + TWI_ACK; + break; + case 0x08: // Distance backward LSB + TWDR = tmp16; + TWI_ACK; + break; default: TWDR = 0; TWI_NAK; @@ -128,6 +159,40 @@ static unsigned short get_distance(uint8_t i) { } +ISR(INT0_vect) { + static uint16_t t_start=0; + uint16_t t_now = TCNT1; + uint16_t t_diff; + + if (bit_is_set(PIND, 2)) { // high level + // start timer + t_start = t_now; + } else { + t_diff = t_now - t_start; + dist_forward = t_diff*2.7586 + 0.5; // t [µs] / 580 = mm + // disable this interrupt + EIMSK |= (1 << INT0); + } +} + + +ISR(INT1_vect) { + static uint16_t t_start=0; + uint16_t t_now = TCNT1; + uint16_t t_diff; + + if (bit_is_set(PIND, 3)) { // high level + // start timer + t_start = t_now; + } else { + t_diff = t_now - t_start; + dist_backward = t_diff*2.7586 + 0.5; // t [µs] / 580 = mm + // disable this interrupt + EIMSK |= (1 << INT1); + } +} + + int main(void) { bootloader = 0x00; setup_uart(9600); @@ -137,16 +202,23 @@ int main(void) { TWAR = 0x52; TWI_RESET; + // Timer 1: Normal mode, Top: 0xffff, Prescaler: F_CPU/256=62500Hz + TCCR1A = 0x0; + TCCR1B = (1 << CS12); + + // External Interrupts + EICRA = (1 << ISC10) | (1 << ISC00); + printf("\r\nStart\r\n"); set_sleep_mode(SLEEP_MODE_IDLE); sei(); while(1) { switch(ireg) { - case 1: // ir left + case 0x01: // ir left dist_left = get_distance(0); break; - case 3: // ir right + case 0x03: // ir right dist_right = get_distance(1); break; case 0xff: // Magic reg that starts the bootloader @@ -160,6 +232,31 @@ int main(void) { break; } + if (start_dist_fwd) { + start_dist_fwd = 0; + dist_forward = 0; + + DDRD |= (1 << 2); + PORTD |= (1 << 2); + _delay_us(10); + PORTD &= ~(1 << 2); + DDRD &= ~(1 << 2); + // wait for interrupt + EIMSK |= (1 << INT0); + } + if (start_dist_bwd) { + start_dist_bwd = 0; + dist_backward = 0; + + DDRD |= (1 << 3); + PORTD |= (1 << 3); + _delay_us(10); + PORTD &= ~(1 << 3); + DDRD &= ~(1 << 3); + // wait for interrupt + EIMSK |= (1 << INT1); + } + sleep_mode(); } diff --git a/avr/nano/main.hex b/avr/nano/main.hex index c6b1c2d..faac092 100644 --- a/avr/nano/main.hex +++ b/avr/nano/main.hex @@ -1,204 +1,283 @@ -:100000000C9440000C945D000C945D000C945D0019 -:100010000C945D000C945D000C945D000C945D00EC -:100020000C945D000C945D000C945D000C945D00DC -:100030000C945D000C945D000C945D000C945D00CC 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